CN101435456B - Connecting structure for revolving body module - Google Patents
Connecting structure for revolving body module Download PDFInfo
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- CN101435456B CN101435456B CN2007101582813A CN200710158281A CN101435456B CN 101435456 B CN101435456 B CN 101435456B CN 2007101582813 A CN2007101582813 A CN 2007101582813A CN 200710158281 A CN200710158281 A CN 200710158281A CN 101435456 B CN101435456 B CN 101435456B
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- connecting ring
- revolving body
- body module
- cover plate
- circular groove
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Abstract
The invention relates to technology of an underwater robot, in particular to a connecting structure of a gyrator module, which is suitable for the connection between modules of a linear underwater robot of a gyrator. The connecting structure comprises a connecting ring for connecting the gyrator modules; the gyrator modules positioned on two sides of the connecting ring are butted with the connecting ring respectively; the outer surface of the connecting ring is provided with a first annular groove; the inner walls of the gyrator modules positioned on the two sides of the connecting ring are provided with a second annular groove corresponding to the position of the first annular groove respectively; the insides of the first annular groove and the second annular groove are accommodated with elastic retaining rings which are butted with the inner wall of the second annular groove; one side of the connecting ring along the horizontal surface parallel to the axis of the connecting ring is provided with a gap; and the inside of the gap is provided with a cover plate connected with the connecting ring. The connecting ring for connecting the gyrator module is a universal part; each connected gyrator module has the completely same structure and size with those of the connecting ring; and the connecting structure can carry out multifunctional recombination and can ensure the sealing performance between the connecting ring and the inner wall of the gyrator module.
Description
Technical field
The present invention relates to the underwater robot technology, specifically a kind of revolving body module linkage structure that connects between each module of solid of rotation line style underwater robot that is applicable to.
Background technique
Underwater robot is the specialized robot of operation in a kind of environment under water, can substitute the mankind and finish multiplely such as underwater operation tasks such as investigation, subaqueous survey under water, especially under water than rugged environment, has brought into play great effect especially.The underwater robot of solid of rotation line style (streamlined) is a kind of of underwater robot, is combined by a plurality of revolving body modules.Since the work mission of underwater robot, the task difference that finish, and what and function separately of module all are not quite similar.In order to guarantee the demand of mission task, people wish just can implement fast at the scene of operation, function conversion easily, also wish to implement under the condition of not changing original structure the function expansion simultaneously.Thisly reconfigure by the difference in functionality module, the technology that constitutes applicable to the underwater robot of different mission tasks often is referred to as the modularization reconfigurable technology.For the modularization reconfigurable technology of solid of rotation line style underwater robot, one of key is the generalization of linkage structure between each module that makes up, and must guarantee also that when connecting reorganization the outside line style of underwater robot is not destroyed.Therefore, how to realize that foregoing has become problem demanding prompt solution.
Summary of the invention
The object of the present invention is to provide a kind of linkage structure of general revolving body module, can change the module of forming or increase and decrease, guarantee that simultaneously the whole line style of solid of rotation line style underwater robot is not destroyed according to the requirement difference of mission task.
Another object of the present invention is to provide a kind of linkage structure of general revolving body module, guarantee that solid of rotation line style underwater robot module is changed or increase and decrease after sealing.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes the connecting ring that is used to connect revolving body module, the revolving body module that is positioned at the connecting ring both sides connects with it respectively; Outer surface at connecting ring has first circular groove, the revolving body module inwall that is positioned at the connecting ring both sides has and corresponding second circular groove in the first circular groove position, be equipped with circlip in first and second circular groove, it is connected on the inwall of second circular groove; One side of connecting ring has breach along the horizontal plane with its parallel axes, is provided with the cover plate that is connected with connecting ring in it.
Wherein: the shape of described cover plate is identical with the shape of breach, and is fixed on the connecting ring by sealing bolt; Have second annular seal groove on the sealing bolt, be provided with the 2nd O RunddichtringO in it; Described breach is the dismounting operating space of circlip, and the cylinder that is shaped as of itself and cover plate lacks shape; The profile of the connecting ring of cover plate place one side is identical with opposite side, forms complete cylindrical; Second circular groove on the described revolving body module inwall, its axial cross section are trapezoidal, and wherein the trapezoidal side near the connecting ring radial centre lines is a hypotenuse, and circlip is connected to this inclined-plane, hypotenuse place; Also have first annular seal groove on the described connecting ring, be equipped with an O RunddichtringO in it; The inwall butt sealing of the one O RunddichtringO and revolving body module; Described connected revolving body module physical dimension is identical, and shell is a thin-wall case, and external shape is a rotary surface, can connect the identical revolving body module of a plurality of physical dimensions by connecting ring.
Advantage of the present invention and good effect are:
1. what the present invention adopted is general linkage structure, and the connecting ring that is used to connect revolving body module is a universal component, and structure and size that each connected revolving body module is connected with connecting ring are identical, so can carry out the reorganization of multiple function.
2. the breach of being offered on connecting ring is convenient to the dismounting of circlip, and each revolving body module can be recombinated easily and quickly.
3. the present invention adopts circlip as the parts that are connected and fixed, and circlip is squeezed on the inclined-plane at hypotenuse place of revolving body module inwall circular groove, and the axial thrust load of generation can make revolving body module and connecting ring remain axial compression.
4. after revolving body module of the present invention was connected installation, to the not influence of solid of rotation line style of integral surface, linkage structure was simple.
5. cover plate is packed on the connecting ring by the sealing bolt that has the 2nd O RunddichtringO, and sealing bolt both had been used for fixing cover plate, still is the sealed member of shutoff connecting ring ventilating hole simultaneously.
6. an O RunddichtringO of connecting ring outer surface setting has guaranteed the sealing between connecting ring and the revolving body module inwall.
Description of drawings
Fig. 1 connects the structural representation of two revolving body modules for the present invention;
Fig. 2 is the sectional view of A-A among Fig. 1;
Fig. 3 is the sectional view of B-B among Fig. 1;
Fig. 4 is the partial enlarged drawing of Fig. 1.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
The present invention is as linkage structure that can type recombined solid of rotation line style underwater robot revolving body module, as shown in Figure 1.Present embodiment comprises the connecting ring 4 that is used to connect first and second revolving body module 1,5 for connecting two revolving body modules with a connecting ring, first and second revolving body module the 1, the 5th, and connected object, external shape is a rotary surface.Shown in Fig. 1～2, outer surface at connecting ring 4 has two first circular grooves 9, first and second revolving body module 1,5 inwalls that are positioned at connecting ring 4 both sides have and corresponding second circular groove 10 in first circular groove, 9 positions, after first and second revolving body module 1,5 and connecting ring 4 were in place, lucky second circular groove 10 was in alignment with each other with first circular groove 9 on the connecting ring 4.Be equipped with circlip 2 in first and second circular groove 9,10 that is in alignment with each other.Circlip 2 is the gauge hole back-up ring.The axial cross section of second circular groove 10 is trapezoidal, and wherein the trapezoidal side near connecting ring 4 radial centre lines is a hypotenuse, and circlip 2 is connected to the inclined-plane at this hypotenuse place.Also have first annular seal groove 12 on the connecting ring 4, be equipped with the inwall butt sealing of external diameter and first and second revolving body module 1,5 of an O RunddichtringO 3, the one O RunddichtringOs 3 in it.Shown in Fig. 3～4, a side of connecting ring 4 has breach 11 along the horizontal plane with its parallel axes, is provided with the cover plate 6 that is connected with connecting ring 4 in it.Have through hole on the cover plate 6, be fixed in by sealing bolt 7 in the screw of connecting ring 4.Have second annular seal groove 13 on the sealing bolt 7, be provided with the 2nd O RunddichtringO 8 in it, the unthreaded hole surface butt sealing on its external diameter and connecting ring 4 screw tops.Breach 11 is the dismounting operating space of circlip 2, and its shape with cover plate 6 is identical, for cylinder lacks shape.After cover plate 6 is installed on the connecting ring 4, make that the profile of connecting ring 4 of place one side is identical with opposite side, present complete cylindrical.The opposite side of connecting ring 4 is provided with a boss, and first and second revolving body module 1,5 that is positioned at connecting ring 4 both sides is connected to respectively on this boss and the cover plate 6.First and second O RunddichtringO 3,8 is the standard seal part.Connected first and second revolving body module 1,5 physical dimensions are identical, can connect the identical revolving body module of a plurality of physical dimensions by connecting ring 4.If increase a revolving body module, need to increase a connecting ring 4 and above-mentioned miscellaneous part simultaneously.
Working principle of the present invention is:
The underwater robot of solid of rotation line style is combined by head, middle part (a plurality of) and afterbody revolving body module.
As shown in Figure 1, first and second revolving body module all is the revolving body module at middle part, but no matter be head, middle part or afterbody module, their shell mostly is thin-wall case, external shape is rotary surface, all is identical with the linkage structure and the size of connecting ring 4.
Present embodiment is introduced working principle of the present invention with regard to the explanation of first revolving body module 1 with the assembly process of connecting ring 4.
At first, an O RunddichtringO 3 is contained in first annular seal groove 12 of connecting ring 4 first circular groove 9 of the connecting ring 4 of again circlip 2 being packed into.Because circlip 2 is hole back-up rings, has radially outside elastic force, need circlip 2 be constrained in first circular groove 9 of connecting ring 4 with instrument, and make the external diameter of circlip 2 be not more than the external diameter (promptly being hidden in first circular groove 9 of connecting ring 4) of connecting ring 4.Then, with connecting ring 4 and first revolving body module, 1 centering, and be in place along axis.First circular groove, 9 second circular grooves 10 lucky and on first revolving body module, 1 inwall on the connecting ring 4 align at this moment, back off tool, circlip 2 radially expands outwardly, external diameter until circlip 2 contacts with the inclined-plane of second circular groove 10 of first revolving body module 1, and the expansion of circlip 2 suffers restraints.Circlip 2 acts on the horizontal component on second circular groove, 10 inclined-planes of first revolving body module 1, guarantee that first revolving body module 1 and connecting ring 4 are pressed against each other vertically, this moment, the thin-wall case internal surface of the one O RunddichtringO 3 and first revolving body module 1 fitted tightly, and realized the watertight function (stoping water to bleed from the outside) of the fitting surface of first revolving body module 1 and connecting ring 4.Cylinder is installed is lacked female cap plate 6, when first revolving body module 1 and second revolving body module 5 all with after connecting ring 4 is connected by the above-mentioned steps installation, cover plate 6 can be installed.The 2nd O RunddichtringO 8 has been installed in second annular seal groove 13 of sealing bolt 7 in advance, after cover plate 6 was in place, sealing bolt 7 passed cover board hole, is tightened on the connecting ring 4.The hole of the installation sealing bolt on the connecting ring 4 is used for its detection and maintenance, and sealing bolt 7 is except being used for fixing cover plate 6, and while and the 2nd O RunddichtringO 8 constitute sealing configuration with the unthreaded hole on connecting ring 4 screw tops.
By above-mentioned installation steps as can be seen, it is very important opening the scarce v notch v 11 of a cylinder in connecting ring 4 bottoms along the horizontal plane that parallels with its axis, can be so that the dismounting of circlip 2.
For satisfying the requirement of solid of rotation line style, adapt to the characteristics of the housing of thin-walled, the method for the connecting ring that the present invention adopts, simple in structure, easy accessibility has promptly guaranteed these revolving body modules streamlined not being destroyed in back that be connected to each other, and has also guaranteed whole sealability.
The present invention also can be applicable to the connection of revolving body module in the other field.
Claims (6)
1. the linkage structure of a revolving body module, it is characterized in that: comprise the connecting ring (4) that is used to connect revolving body module, one side of connecting ring (4) has breach (11) along the horizontal plane with its parallel axes, be provided with the cover plate (6) that is connected with connecting ring (4) in it, the opposite side of connecting ring (4) is provided with a boss, first and second revolving body module (1,5) that is positioned at connecting ring (4) both sides is connected to respectively on this boss and the cover plate (6), the profile of the connecting ring (4) of cover plate (6) place one side is identical with opposite side, for complete cylindrical; Outer surface at connecting ring (4) has first circular groove (9), the revolving body module inwall that is positioned at connecting ring (4) both sides has and first circular groove (9) corresponding second circular groove in position (10), first and second circular groove is equipped with circlip (2) in (9,10), it is connected on the inwall of second circular groove (10), make first and second revolving body module (1,5) respectively and connecting ring (4) be pressed against each other vertically.
2. by the linkage structure of the described revolving body module of claim 1, it is characterized in that: the shape of described cover plate (6) is identical with the shape of breach (11), and is fixed on the connecting ring (4) by sealing bolt (7); Have second annular seal groove (13) on the sealing bolt (7), be provided with the 2nd O RunddichtringO (8) in it.
3. by the linkage structure of the described revolving body module of claim 2, it is characterized in that: described breach (11) be the dismounting operating space of circlip (2), itself and cover plate (6) be shaped as the scarce shape of cylinder; The profile of the connecting ring (4) of cover plate (6) place one side is identical with opposite side, forms complete cylindrical.
4. press the linkage structure of the described revolving body module of claim 1, it is characterized in that: second circular groove (10) on the described revolving body module inwall, its axial cross section is trapezoidal, wherein the trapezoidal side near connecting ring (4) radial centre lines is a hypotenuse, and circlip (2) is connected to this inclined-plane, hypotenuse place.
5. by the linkage structure of the described revolving body module of claim 1, it is characterized in that: also have first annular seal groove (12) on the described connecting ring (4), be equipped with an O RunddichtringO (3) in it; The one O RunddichtringO (3) seals with the inwall butt of revolving body module.
6. press the linkage structure of the described revolving body module of claim 1, it is characterized in that: described connected revolving body module physical dimension is identical, shell is a thin-wall case, and external shape is a rotary surface, can pass through connecting ring (4) and connect the identical revolving body module of a plurality of physical dimensions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101582813A CN101435456B (en) | 2007-11-14 | 2007-11-14 | Connecting structure for revolving body module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101582813A CN101435456B (en) | 2007-11-14 | 2007-11-14 | Connecting structure for revolving body module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101435456A CN101435456A (en) | 2009-05-20 |
| CN101435456B true CN101435456B (en) | 2010-12-15 |
Family
ID=40710040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101582813A Expired - Fee Related CN101435456B (en) | 2007-11-14 | 2007-11-14 | Connecting structure for revolving body module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101435456B (en) |
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2007
- 2007-11-14 CN CN2007101582813A patent/CN101435456B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101435456A (en) | 2009-05-20 |
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Granted publication date: 20101215 Termination date: 20191114 |